How to get calibration/registration matrix Depth->Color?

Technical Support & Q&A Basic
1

According to Camera Calibration and 3D Reconstruction — OpenCV 2.4.13.7 documentation
we need some information from the camera to reconstruct 3D successfully. Say, focal lengths and principal point, as well as rotation-translation matrix.

Is it possible to get it from Astra Embedded S through Astra SDK? How is that?

Thanks!

2

Hi, yvoronov,

You could get the calibration parameters using “Extended API” in OpenNI SDK,
Hope it help.

Wan

3

Wan,

It’s a great idea. However, how can I get openni::Device object from Astra SDK objects? Is there any “conversion” from Astra stream set or Astra reader to openni Device or openni VideoStream?

Thanks,
Yury

4

Hi, yvoronov,

You could download the “OpenNI SDK” from the Orbbec website.

Wan

5

Wan,

Let me rephrase my question. Say, I have a program using Astra SDK as well as OpenNI SDK. And I initialize camera as follows:

astra::initialize();
astra::StreamSet streamSet1("device/sensor0");
astra::StreamSet streamSet2("device/sensor1");
astra::StreamReader reader1 = streamSet1.create_reader();
astra::StreamReader reader2 = streamSet2.create_reader();

However, in order to get OpenNI OBCameraParams, I need to have an openni::Device instance. How can I get such an instance in my code from astra::StreamSet instance or astra::StreamReader instance? What API call should I use?

Thanks,
Yury

6

Yvoronov,

There is an instance - ”DeviceController" in the latest Astra SDK 2.0.19 version could meet your requirements.
The download link attached below:

Hope it help.

Wan

7

Wow, thanks!

BTW, I found get_ir_exposure_value() and set_ir_exposure_value() methods there. However, there are no get_color_exposure_value() and set_color_exposure_value()methods - how about them? Is there any chance to have them soon?

Yury

8

How can the various modes of imaging and the analysis/post processing to the image be used to accomplish object classification and sorting:
am having issues with object classification and sorting . any answer to the above question, thanks

9

Yvoronov,

Embedded S is UVC camera that need using 3rd party library to develop, such as Open CV.
Please try that to acquire color exposure value.

Wan